如何修复Ign Gazebo的Ogre::InvalidParametersException异常

环境 #

• Ubuntu 22.04
• ROS2 Humble
• Ignition Fortress

触发命令 #

执行以下命令加载URDF模型时程序崩溃：

ign service -s /world/empty/create --reqtype ignition.msgs.EntityFactory --reptype ignition.msgs.Boolean --timeout 1000 --req 'sdf_filename: "/ros_ws/src/mobot_description/urdf/mobot.urdf", name: "mobot_description"'

错误日志 #

➜  /ros_ws ign gazebo empty.sdf
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
libEGL warning: MESA-LOADER: failed to open vgem: /usr/lib/dri/vgem_dri.so: cannot open shared object file: No such file or directory (search paths /usr/lib/x86_64-linux-gnu/dri:\$${ORIGIN}/dri:/usr/lib/dri, suffix _dri)

libEGL warning: NEEDS EXTENSION: falling back to kms_swrast
terminate called after throwing an instance of 'Ogre::InvalidParametersException'
  what():  OGRE EXCEPTION(2:InvalidParametersException): StagingBuffer cannot map 0 bytes in StagingBuffer::mapChecks at /build/ogre-next-UFfg83/ogre-next-2.2.5+dfsg3/OgreMain/src/Vao/OgreStagingBuffer.cpp (line 64)
Stack trace (most recent call last) in thread 230276:
#10   Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in
#9    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f708b5f584f, in
#8    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f708b563ac2, in
#7    Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f7085c7e99d, in
#6    Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f7085c7cf90, in qTerminate()
#5    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f7087aff276, in std::terminate()
#4    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f7087aff20b, in
#3    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f7087af3b9d, in
#2    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f708b4f77f2, in abort
#1    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f708b511475, in raise
#0    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f708b5659fc, in pthread_kill
Aborted (Signal sent by tkill() 230206 0)

涉及的URDF内容 #

<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from mobot_overall.urdf.xacro       | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="mobot_description">
  <link name="base_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0105481626504806 0.000121730205140724 -0.0536615390649162"/>
      <mass value="11.9970840115073"/>
      <inertia ixx="0.0265731409814962" ixy="1.52214545840681E-05" ixz="-0.000581289129660373" iyy="0.0533099030677871" iyz="-5.74575531055247E-07" izz="0.0503147943878383"/>
    </inertial>
    <!-- <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="/ros_ws/src/mobot_description/meshes/base_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual> -->
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="/ros_ws/src/mobot_description/meshes/base_link.STL"/>
      </geometry>
    </collision>
  </link>
</robot>

已知情况 #

• 确认mesh文件路径正确，RViz2中可正常显示模型
• 删除URDF中的Visual部分后，Ignition不再崩溃，但需要保留Visual部分

解决方法 #

1. 修复STL文件格式问题 #

Ignition的Ogre渲染器对STL文件格式要求比RViz更严格，可能存在面数据异常：

• 用MeshLab打开base_link.STL，执行Filters -> Cleaning and Repairing -> Remove Duplicate Vertices修复非流形结构
• 重新导出为二进制STL格式（避免ASCII格式的潜在兼容性问题）

2. 明确指定Visual部分的材质 #

原URDF中Visual的material name=""为空，可能导致渲染器初始化失败：
修改Visual的material节点，比如使用内置材质：

<visual>
  <origin rpy="0 0 0" xyz="0 0 0"/>
  <geometry>
    <mesh filename="/ros_ws/src/mobot_description/meshes/base_link.STL"/>
  </geometry>
  <material name="Gazebo/White"/>
</visual>

或者自定义材质：

<visual>
  <origin rpy="0 0 0" xyz="0 0 0"/>
  <geometry>
    <mesh filename="/ros_ws/src/mobot_description/meshes/base_link.STL"/>
  </geometry>
  <material name="white_material">
    <color rgba="1 1 1 1"/>
  </material>
</visual>

3. 设置正确的环境变量 #

错误日志中提示XDG_RUNTIME_DIR未设置，先配置该变量再启动Ignition：

export XDG_RUNTIME_DIR=/tmp/runtime-$USER
mkdir -p $XDG_RUNTIME_DIR
chmod 0700 $XDG_RUNTIME_DIR
ign gazebo empty.sdf

4. 更新Ignition依赖包 #

尝试升级Ignition Fortress相关组件，修复已知的渲染bug：

sudo apt update && sudo apt upgrade ignition-fortress

5. 转换URDF为SDF后加载 #

URDF转SDF后再加载，规避直接解析URDF的兼容性问题：

# 转换URDF到SDF
gz sdf -p /ros_ws/src/mobot_description/urdf/mobot.urdf > /ros_ws/src/mobot_description/urdf/mobot.sdf
# 加载SDF模型
ign service -s /world/empty/create --reqtype ignition.msgs.EntityFactory --reptype ignition.msgs.Boolean --timeout 1000 --req 'sdf_filename: "/ros_ws/src/mobot_description/urdf/mobot.sdf", name: "mobot_description"'

内容的提问来源于stack exchange，提问作者BugFree